EP1617554A1 - Unité de commande de la commutation pour un moteur à reluctance commuté - Google Patents

Unité de commande de la commutation pour un moteur à reluctance commuté Download PDF

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Publication number
EP1617554A1
EP1617554A1 EP05014606A EP05014606A EP1617554A1 EP 1617554 A1 EP1617554 A1 EP 1617554A1 EP 05014606 A EP05014606 A EP 05014606A EP 05014606 A EP05014606 A EP 05014606A EP 1617554 A1 EP1617554 A1 EP 1617554A1
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EP
European Patent Office
Prior art keywords
current
motor
commutation
speed
rotor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05014606A
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German (de)
English (en)
Other versions
EP1617554B1 (fr
Inventor
Frank Schwamberger
Stephan Horn
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Elektra GmbH
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Elektra GmbH
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Publication date
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Publication of EP1617554A1 publication Critical patent/EP1617554A1/fr
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Publication of EP1617554B1 publication Critical patent/EP1617554B1/fr
Expired - Fee Related legal-status Critical Current
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H02P25/092—Converters specially adapted for controlling reluctance motors
    • H02P25/0925—Converters specially adapted for controlling reluctance motors wherein the converter comprises only one switch per phase
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H02P25/098—Arrangements for reducing torque ripple

Definitions

  • the invention relates to a commutation control for a switched reluctance motor, which is driven in a high-speed range.
  • the optimization of the control is to be directed to a safe and reproducible start-up behavior, to the dynamic adaptation of the current supply in a wide speed and load range as well as to a noise reduction.
  • stator and rotor The geometrically typical design of the stator and rotor and in particular their pole number relationships may be assumed to be well known in the meantime.
  • a Statorpol forms a magnetic field in which he integrates a not aligned to him rotor pole by means of a closed magnetic flux, the system seeks to take a characterized by minimal reluctance stable alignment position of the stator and rotor pole and so causes the rotation step.
  • the power supply and shutdown in the Statorpolwicklept must be matched to the geometry of the stator and Rotorpolan himself performed by a control circuit between the motor and power supply, which processes rotationally synchronous information signals on the current rotor position and speed.
  • the required duration of the pulse is largely system-bound, but the available time during the rotor angle step decreases with increasing speed. Without suitable compensating measures, an increase in rotational speed beyond a system-specific value can therefore lead to an overlap of successive current pulses and to the formation of braking force components in the movement sequence of the rotor.
  • Each variant of an energization mode is - as already explained - dependent on the momentary rotor position with respect to the cyclic and rotationally to be passed stator poles to capture and evaluate and not in a static state but in a dynamic process.
  • Signal acquisition and signal processing are thus important functions in the control of a switched reluctance motor.
  • Non-contact sensors such as photoelectric sensors and Hall sensors have introduced themselves for this purpose.
  • These encoder disks can be provided with sampling patterns that trigger the Yes-No signals of the respective sensor type, usually holes or recesses in alternation with optically or magnetically retroactive sectors.
  • a third task already mentioned at the beginning of the control consists of measures for noise reduction.
  • switched reluctance motors resulting from the energization of opposing stator poles high radial magnetic forces and from the cyclic circulation of this pairwise energization vibration generating circumferential elliptical force waves. They cause deformation-related noises.
  • This is also recognized in DE 102 45 887 A1 and described with the above conclusion, by the control electronics to specify the phase currents such that in the radial force spectrum of the engine in the range of critical resonance frequencies are minimized radial force components. Only the solution claim is limited to the obvious general control engineering approach.
  • the object of the invention is therefore to obtain a control for a switched reluctance motor, which ensures a reliable orientation of the rotor to start position during startup, also allows commutation of a few kHz and results in an effective noise reduction.
  • the alignment of the SR motor must be done from any rotor position of the engine and this quickly and stably.
  • the solution according to the invention ensures the secure alignment of the SR motor with minimized alignment time.
  • the motor string B is first energized for a short time (about 1/5 of the total alignment time).
  • the current setpoint for this pre-alignment is set separately and executed as a ramp function.
  • the current control loop is calculated during the alignment process with adapted control parameters, since in this operating state of the engine no reverse voltages are effective. The pre-alignment ensures that the subsequent alignment process takes place on the engine harness C in an area with torque formation.
  • the current in the motor string B is regulated down to zero and the current in the motor string C, again via a ramp function, set to the predetermined desired value.
  • This setpoint can be selected according to the load torque to be applied between 0 and 100% of the maximum current.
  • the control parameters for this part of the alignment process are tracked again.
  • the ramp function reduces overshoot of the rotor during alignment and minimizes alignment time. An overshoot of the rotor would result after completion of the alignment process that the rotor does not take the required to start safe starting position. Furthermore, before the end of the alignment process (after about 4/5 of the total alignment time), a lowering of the alignment current to half the desired value, whereby a further stabilization of the rotor is achieved.
  • the second objective according to the invention relates to a speed-dependent pre-ignition and the adaptation of the commutation times to the PWM carrier frequency.
  • the two-track rotor position sensor ensures advantageous, especially in the start-up phase, the regular control of the basic cycle and the detection of the current engine speed. From a certain speed but it is no longer sufficient to switch the motor string with the edges of the phase sensor. It is a speed-dependent pre-ignition necessary, which belongs to the prior art as knowledge.
  • the invention is a solution which, even with the use of simple position transmitter with only two signal states per commutation interval, guarantees a highly accurate speed-dependent Zündimpulserzeugung.
  • a digital PLL structure is used, which is switched in the high-speed range between the position sensor and the commutation, wherein from the discrete signal of the position sensor by a high-resolution software timer within the PLL structure, a highly accurate resolution of the current rotor position is obtained.
  • the optimum ignition pulse times are set by adding and subtracting speed- and operation-dependent shift times. This has made it possible to design the pre-ignition required for operation in the high-revving speed range independently of the time at which the encoder signals occurred.
  • the optimized for the low-speed speed range encoder signal is maintained and is processed by the PLL as input.
  • the inventive method provides a solution to dynamically implement further operational influences of the engine in the Zündimpulser Wegung and thus to improve the efficiency and the torque curve of the reluctance motor, by the highly accurate shift of the switch-on and switch-off.
  • the method is used to increase the speed stability of the motor, which is realized by an adjustment of the commutation period to the PWM carrier frequency by shifting the switch-on and switch-off in both directions.
  • the speed response of the SR motor in addition to its speed / voltage characteristic and the speed / torque characteristic, also makes the drive's transmission behavior important. Since this works in the switching mode, the transmission errors due to the quantization and the switching characteristics in the bridge branches also affect the speed.
  • the method according to the invention provides a possibility of reducing the speed errors which result from the use of the pulse width modulation.
  • the strand number and the rotor pole number of the SR motor results for each speed an exact period of time in which a motor strand of the motor should be turned on. After this time, the commutation takes place on the next engine train of the SR motor. If the PWM carrier frequency is an integer multiple of this commutation period, then the speed controller is able to output a fixed setpoint, which, taking into account the losses in the inverter too a constant motor voltage leads. However, if the speed of the motor changes, the commutation is also carried out within a PWM signal and the setpoint specified by the speed controller can no longer be set exactly by the inverter. This leads to fluctuations in the speed of the SR motor.
  • the aim of the invention is therefore to adapt the commutation time so that an integer ratio to the PWM carrier frequency is maintained.
  • the static accuracy of the speed control can be greatly improved.
  • the measured duration of a commutation period is fed into a digital PLL structure and the speed-dependent period is determined as the calculated value.
  • the difference between the timer for the measurement of the commutation period from the signals of the position sensors and a free-running software timer is formed. This is then filtered (PT1 element) and amplified (P element).
  • the third object of the invention relates to the noise reduction by controlling the current shape in the commutation.
  • An essential parameter for characterizing a motor is its noise development. This is particularly relevant in SR motors, since here, as a result of the working principle, a deformation of the stator occurs.
  • the respective opposite coils are energized. Due to the occurring radial force on the stator this is deformed.
  • the rotor tooth is largely aligned with the stator tooth. Therefore, at this time, the radial force is greatest. If the motor string current is switched off, occurs due to the sudden radial force drop, a re-deformation of the stator, which leads to a strong noise.
  • the current is gradually reduced when the motor string is switched off by means of a current shaping control.
  • the current shape is set in the region of the commutation process. For this purpose, the period duration for a commutation period of the motor is measured and then filtered by a PTI element. This value is then divided by the period of the current control loop and the result is the number of control steps per commutation period. With this value, which is adopted at the beginning of a commutation and then decremented with each controller calculation, a correction factor for the current setpoint can be taken from a table.
  • the size of the current form table to be created and the area for the current form control are limited to the current reduction before the commutation to the following motor string. This area is particularly important for the reduction of noise in the SR motor, because the hard current break-off when switching off the still active engine line results in particularly strong stator deformations. The targeted lowering of the motor string current before commutation, these noises are greatly reduced.
  • the components of the control according to the invention interact with each other in the overall solution.
  • Fig. 1 shows an example of order of order for stable alignment
  • Fig. 2 is denoted by (1) the inverter, on which an SR motor (2) is always operated.
  • the inverter On which an SR motor (2) is always operated.
  • the method according to the invention therefore provides a possibility of reducing the speed errors which result from the application of the pulse width modulation (3) .
  • the strand number and the rotor tooth number of the SR motor results for each speed an exact period of time in which a motor string of the motor is turned on. After this time, the commutation takes place on the next engine train of the SR motor. If an integer multiple occurs between the commutation period of a motor string and the period duration of the PWM carrier frequency, then the desired value (4) specified by the speed controller can be taken into account, taking into account the losses in the converter (1). be converted to a constant motor voltage. Assuming a constant load on the SR motor (2) then sets a constant speed.
  • the ratio between the PWM period and the commutation period is no longer an integer.
  • the commutation is now carried out within a PWM signal and the setpoint (4) specified by the speed controller can no longer be set exactly by the converter (1). This leads to fluctuations in the speed of the SR motor.
  • the aim of the invention was therefore to adapt the commutation of the engine so that an integer ratio between the PWM carrier frequency and the commutation period is maintained.
  • the static accuracy of the speed control can be greatly increased and the SR motor can also be used in applications with high speed accuracy.
  • the measured duration of a commutation period (5) is filtered by means of the PTI element (6) and then fed into a PLL structure (7) .
  • the difference between the timer for measuring the commutation period (from the signals of the position sensors) and a free-running software timer (8) is formed.
  • This difference is then also filtered (PTI element) and then amplified (P element).
  • the value thus determined is added as an error deviation with the filtered value of the commutation period (7) and used as a period for the free-running software timer (8).
  • the typical catch and hold range for a PLL results.
  • the software timer (8) will run synchronously after just a few cycles to the measuring timer (5) and can now be used to set the commutation times (formation of the signals string order and PWM synch). This makes it possible to shift the commutation times of the individual motor strings of the SR motor independently of the sensor signals in both directions with high accuracy.
  • the desired adaptation of the ratio of commutation period and PWM carrier frequency is now established.
  • the motor-stalled control loop can also be used for other functions in the SR motor control.
  • the very precise shifting of the switch-on and switch-off times also forms the basis for additional optimization of the efficiency and the torque curve.
  • FIG. 3 shows the block diagram of the current form control according to the invention for noise reduction. Same components as in Fig. 2 are numbered as there.
  • the noise is an essential parameter for characterizing an SR motor, because these result in a cyclic deformation of the stator by the motor string circuit due to the principle of operation. In addition to constructive solutions to reduce these noise causes control measures can be taken. For realizing a reduction in the noise generation according to the invention on SR motors, therefore, the current shape is set in the region of the commutation process.
  • the period duration for a commutation period of the motor is measured with the aid of a very accurate counter (resolution 0.5 ⁇ s) (5) . Subsequently, this value is filtered by a PTI element (6) . The value of the commutation period thus determined is then divided by the sampling rate of the current control loop (19) . The result is the number of control steps per commutation period. With this number, which is taken over and stored at the beginning of a new commutation, it is then possible to derive a correction factor for the current setpoint from a previously determined table (10) . By multiplying this factor with the specified current setpoint from the speed controller (11) , one obtains the setpoint for the subordinate current control circuit (12).
  • the period duration determination (5) also provides the output sequence for the desired direction of rotation as an output signal and synchronizes these according to the position encoder signals (13) . This information is also processed in the setpoint generator (14) and the current setpoint determined there is fed to the associated motor-string current controller (12).
  • the construction of the correction table (10) is optimal in the form that the normalized factors in the range of +1 to -1 (or +1 to 0) are stored.
  • the value of the control steps taken over at the beginning of the commutation period is decremented with the correction factors from the current form table (10) and used as an index for the readout of the correction factors from the current form table.
  • the size of the current form table to be created and the scope of the current form control is limited to the range of current reduction before the commutation. This range is particularly important for reducing the noise in the SR motor.
  • the correction factors of the current form table and their number n can be updated according to the required speed range.
  • the lower switch of the bridge branch is additionally included in the current form correction (hard switching). This always happens when the current setpoint becomes negative (correction factors 0 to - 1). During normal operation of the motor, the lower switch otherwise remains permanently switched on in order to keep the current ripple low (soft switching).
  • the pulses of the lower switch is also pulse width modulated, wherein the duty cycle is specified by the current regulator (12).
  • the upper switch of the bridge branch is switched off in this case.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
EP05014606A 2004-07-15 2005-07-06 Unité de commande de la commutation pour un moteur à reluctance commuté Expired - Fee Related EP1617554B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102004034470A DE102004034470A1 (de) 2004-07-15 2004-07-15 Steuerung für einen geschalteten Reluktanzmotor

Publications (2)

Publication Number Publication Date
EP1617554A1 true EP1617554A1 (fr) 2006-01-18
EP1617554B1 EP1617554B1 (fr) 2009-06-24

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EP05014606A Expired - Fee Related EP1617554B1 (fr) 2004-07-15 2005-07-06 Unité de commande de la commutation pour un moteur à reluctance commuté

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DE (2) DE102004034470A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9742320B2 (en) 2014-01-17 2017-08-22 Mcmaster University Torque ripple reduction in switched reluctance motor drives
CN107425783A (zh) * 2017-08-09 2017-12-01 江苏上骐集团有限公司 一种能减少开关磁阻电机转矩脉动的方法
CN111323703A (zh) * 2020-03-25 2020-06-23 常州登丰电气有限公司 直流有刷电机换相次数和换相频率的测量装置和测量方法
CN115149875A (zh) * 2022-07-27 2022-10-04 苏州金钥匙自动化设备有限公司 一种开关磁阻电动机的控制系统及控制方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9641119B2 (en) 2013-12-10 2017-05-02 Mcmaster University Extended-speed low-ripple torque control of switched reluctance motor drives
DE102016119988A1 (de) * 2016-10-20 2018-04-26 Miele & Cie. Kg Verkürzung der Ausrichtphase bei einem Reluktanzmotor

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4707650A (en) * 1986-10-03 1987-11-17 General Electric Company Control system for switched reluctance motor
DE4025350A1 (de) 1990-08-10 1992-02-13 Philips Patentverwaltung Schaltungsanordnung zum kommutieren eines reluktanzmotors
DE4029335A1 (de) 1990-09-15 1992-03-19 Philips Patentverwaltung Schaltungsanordnung zum kommutieren eines reluktanzmotors
US5113125A (en) * 1991-05-01 1992-05-12 Westinghouse Electric Corp. AC drive with optimized torque
EP0534761A1 (fr) * 1991-09-25 1993-03-31 Switched Reluctance Drives Limited Régulation d'une machine à reluctance commutée
GB2266196A (en) 1992-03-25 1993-10-20 Gold Star Co A reversable switched reluctance motor
DE10035540A1 (de) 2000-04-01 2001-10-04 Vorwerk Co Interholding Reluktanzmotor und Verfahren zur Regelung eines Reluktanzmotors
DE10245887A1 (de) 2002-09-03 2004-03-11 Robert Bosch Gmbh Verfahren zur Geräuschereduzierung an elektrischen Maschinen

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GB2319908B (en) * 1996-11-28 2000-09-13 Pwm Drives Limited Self-starting and direction control of two-phase switched reluctance machines

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4707650A (en) * 1986-10-03 1987-11-17 General Electric Company Control system for switched reluctance motor
DE4025350A1 (de) 1990-08-10 1992-02-13 Philips Patentverwaltung Schaltungsanordnung zum kommutieren eines reluktanzmotors
DE4029335A1 (de) 1990-09-15 1992-03-19 Philips Patentverwaltung Schaltungsanordnung zum kommutieren eines reluktanzmotors
US5113125A (en) * 1991-05-01 1992-05-12 Westinghouse Electric Corp. AC drive with optimized torque
EP0534761A1 (fr) * 1991-09-25 1993-03-31 Switched Reluctance Drives Limited Régulation d'une machine à reluctance commutée
GB2266196A (en) 1992-03-25 1993-10-20 Gold Star Co A reversable switched reluctance motor
DE10035540A1 (de) 2000-04-01 2001-10-04 Vorwerk Co Interholding Reluktanzmotor und Verfahren zur Regelung eines Reluktanzmotors
DE10245887A1 (de) 2002-09-03 2004-03-11 Robert Bosch Gmbh Verfahren zur Geräuschereduzierung an elektrischen Maschinen

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Title
AHN JIN- WOO: "DSP- Based High Efficiency SR Drive with Preciese Speed Control In", INDUSTRIAL ELECTRONICS, PROCEEDINGS ISIE 2002, vol. 4.8, 11 July 2002 (2002-07-11), pages 1125 - 1130, XP010598085
INDERKA R B ET AL: "DITC- direct instantaneous torque control of switched reluctance drives", CONFERENCE RECORD OF THE 2002 IEEE INDUSTRY APPLICATIONS CONFERENCE. 37TH IAS ANNUAL MEETING . PITTSBURGH, PA, OCT. 13 - 18, 2002, CONFERENCE RECORD OF THE IEEE INDUSTRY APPLICATIONS CONFERENCE. IAS ANNUAL MEETING, NEW YORK, NY : IEEE, US, vol. 1 OF 4. CONF. 37, 13 October 2002 (2002-10-13), pages 1605 - 1609, XP010610094, ISBN: 0-7803-7420-7 *
STEPHENSON J M BLAKE R J: "THE CHARACTERISTICS, DESIGN AND APPLICATION OF SWITCHED RELUCTANCE MOTORS AND DRIVES", PCIM EUROPE PROCEEDINGS OF THE INTERNATIONAL INTELLIGENT MOTION CONFERENCE, XX, XX, vol. 5, 21 June 1993 (1993-06-21), pages 1 - 68, XP002956735 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9742320B2 (en) 2014-01-17 2017-08-22 Mcmaster University Torque ripple reduction in switched reluctance motor drives
CN107425783A (zh) * 2017-08-09 2017-12-01 江苏上骐集团有限公司 一种能减少开关磁阻电机转矩脉动的方法
CN111323703A (zh) * 2020-03-25 2020-06-23 常州登丰电气有限公司 直流有刷电机换相次数和换相频率的测量装置和测量方法
CN115149875A (zh) * 2022-07-27 2022-10-04 苏州金钥匙自动化设备有限公司 一种开关磁阻电动机的控制系统及控制方法
CN115149875B (zh) * 2022-07-27 2024-01-12 苏州金钥匙自动化设备有限公司 一种开关磁阻电动机的控制系统及控制方法

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Publication number Publication date
EP1617554B1 (fr) 2009-06-24
DE102004034470A1 (de) 2006-02-16
DE502005007554D1 (de) 2009-08-06

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